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How to use the IMU raw data, rostopic echo imu

asked 2012-11-27 20:27:58 -0600

Astronaut gravatar image


I have one question regarding using the raw IMU data. Im using a sensor package with laser range finder, IMU and camera. My bag file consists of scans, imu data and images. I would like to know how to use the imu data to calculate the position and angular velocity of the robot. This is the output of the rostopic echo /imu/data

For example

  seq: 24237
    secs: 1301628270
    nsecs: 972690349
  frame_id: /base_imu
  x: -0.628151834011
  y: 0.0210457909852
  z: -0.0200814530253
  w: -0.777546823025
orientation_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
  x: -0.00680741108954
  y: -0.00184269389138
  z: -0.00491618132219
angular_velocity_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
  x: -0.43050968647
  y: 0.00864356849343
  z: 9.79496383667

Any help??

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1 Answer

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answered 2012-11-27 23:59:18 -0600

Kevin gravatar image

Take a look at the navigation stack. There is lots of information and tools to use to calculate robot position, generate maps, and navigate.

Also take a look at the robot_pose_ekf which fuses IMU data, odometry, and video odometry to calculate position.

In addition, viso2 is a good package to produce video odometry from your camera images.

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Sorry but I did not found in the navigation stack any info for IMU. Any help???

Astronaut gravatar image Astronaut  ( 2012-11-28 17:38:48 -0600 )edit

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Asked: 2012-11-27 20:27:58 -0600

Seen: 3,701 times

Last updated: Nov 27 '12